{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from math import *\n",
    "from bezier import Bezier\n",
    "from dynamics import Dynamics\n",
    "from map import mapGenerator\n",
    "from planner import Planner\n",
    "Deg2Rad = pi/180    #Factor for converting degee to radian"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [],
   "source": [
    "'''''''Initial states of the vehicle'''''''\n",
    "start = [0, 25] #Starting coordinate in meter\n",
    "start_heading = 0  #Starting heading in degrees\n",
    "start_steering = 0  #Starting steering in degrees\n",
    "goal = [40, 40] #Goal coordinate in meter\n",
    "goal_heading = 60  #Goal heading in degrees\n",
    "goal_steering = 0  #Goal steering in degrees\n",
    "car_length = 5\n",
    "car_width = 3 \n",
    "wheelbase = 2\n",
    "tolerance = 3\n",
    "obstacle_type = \"Some_obstacle\"\n",
    "'''Convert all angles into radians'''\n",
    "start_heading *= Deg2Rad\n",
    "start_steering *= Deg2Rad\n",
    "goal_heading *= Deg2Rad\n",
    "goal_steering *= Deg2Rad"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 28,
   "metadata": {},
   "outputs": [],
   "source": [
    "'''Map & Obstacles generation'''''\n",
    "mapsize = 50   #Map size (square map)\n",
    "freeGrid_num, obstacle, danger_zone = mapGenerator(start, obstacle_type, mapsize = 50)\n",
    "\n",
    "'''Vehicle constraints & dynamics'''''\n",
    "init_distance = \\\n",
    "    sqrt((start[0] - goal[0])**2 + (start[1] - goal[1])**2) #Initial distance when the goal is assigned\n",
    "\n",
    "'''Vehicle constraints & dynamics'''''\n",
    "theta, theta_future, displacement_rear, displacement_rear_future, steering_step = \\\n",
    "    Dynamics(wheelbase, search_length = 2.5, speed = 5, dt = 1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [],
   "source": [
    "'''Bezier spline calculation'''''\n",
    "bz = Bezier(start, goal, start_heading, goal_heading, start_steering, mapsize,\n",
    "            car_length, car_width, wheelbase, 3*mapsize,\"Nofound\")\n",
    "bezier_spline = bz.calculation()\n",
    "# bz.plot()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [],
   "source": [
    "p = Planner(start, goal, start_heading, goal_heading, start_steering, mapsize,\n",
    "            freeGrid_num, tolerance, car_length, car_width, wheelbase, obstacle_type)\n",
    "path, path_tree = p.calculation()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 31,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x11199df98>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "x, y = np.vstack(path).T\n",
    "plt.figure(figsize=(10,10))\n",
    "plt.scatter(obstacle[:,0],obstacle[:,1],marker='s',s=100)\n",
    "plt.plot(x,y,linewidth = '3')\n",
    "for i in range(len(path_tree)):\n",
    "    path_tree[i] = np.vstack(path_tree[i])\n",
    "    x, y = path_tree[i].T\n",
    "    plt.plot(x,y,color = 'C2', linewidth = 2, linestyle = ':')\n",
    "plt.plot(bezier_spline[:,0], bezier_spline[:,1], linestyle='--',color = 'grey')\n",
    "\n",
    "\n",
    "plt.gca().add_patch(plt.Rectangle((start[0] - 0.5 * (car_length - wheelbase) , start[1] + 0.5* car_width ), 3, 5, fc = 'lightblue',\n",
    "                                  angle = -90,edgecolor = 'black'))\n",
    "plt.gca().add_patch(plt.Rectangle((goal[0] - 0.5 * (car_width*np.sin(goal_heading) + (car_length - wheelbase)*np.cos(goal_heading)),\n",
    "                                   goal[1] - 0.5 * (-car_width*np.cos(goal_heading) + (car_length - wheelbase)*np.sin(goal_heading))),\n",
    "                                  3, 5, fc = 'lightblue',edgecolor = 'black', angle = -90 + goal_heading*180/pi ,linestyle='--'))\n",
    "plt.scatter(start[0], start[1], zorder = 10, color = 'navy')\n",
    "plt.scatter(goal[0], goal[1], zorder = 10, color = 'navy')\n",
    "plt.arrow(start[0],start[1], wheelbase*np.cos(start_heading), wheelbase*np.sin(start_heading), head_width=0.5,zorder = 11)\n",
    "plt.arrow(goal[0],goal[1], wheelbase*np.cos(goal_heading), wheelbase*np.sin(goal_heading), head_width=0.5,zorder = 11)\n",
    "plt.xticks(np.arange(0, mapsize+1, 5.0))\n",
    "plt.yticks(np.arange(0, mapsize+1, 5.0)) \n",
    "plt.axes().set_yticks(np.arange(0.5, mapsize+0.5, 1.0), minor=True)\n",
    "plt.axes().set_xticks(np.arange(-2.5, mapsize+0.5, 1.0), minor=True)\n",
    "plt.grid(b=True, which='minor', color='grey', linestyle='--')\n",
    "plt.gca().xaxis.set_tick_params(labeltop='on')\n",
    "plt.gca().yaxis.set_tick_params(labelright='on')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {},
   "outputs": [],
   "source": [
    ""
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 0
}
